generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

refactoring of copy_non_nans

Browse Source
This commit is contained in:
Anatoly Baksheev
2013-06-11 18:38:20 +04:00
parent da32ca4948
commit 1ae5918fa8
3 changed files with 69 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files

104
modules/viz/src/q/viz3d_impl.hpp
View File

@@ -24,9 +24,9 @@ public:
void setWindowName (const std::string &name);
/** \brief Register a callback function for keyboard input
* \param[in] callback function that will be registered as a callback for a keyboard event
* \param[in] cookie for passing user data to callback
*/
* \param[in] callback function that will be registered as a callback for a keyboard event
* \param[in] cookie for passing user data to callback
*/
void registerKeyboardCallback(void (*callback)(const cv::KeyboardEvent&, void*), void* cookie = 0);
/** \brief Register a callback function for mouse events
@@ -96,13 +96,13 @@ public:
bool addText3D (const std::string &text, const cv::Point3f &position, const Color& color, double textScale = 1.0, const std::string &id = "");
bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const std::string &id = "cloud");
/** \brief If the id exists, updates the point cloud; otherwise, adds a new point cloud to the scene
* \param[in] id a variable to identify the point cloud
* \param[in] cloud cloud input in x,y,z coordinates
* \param[in] colors color input in the same order of the points or single uniform color
* \param[in] pose transform to be applied on the point cloud
*/
* \param[in] id a variable to identify the point cloud
* \param[in] cloud cloud input in x,y,z coordinates
* \param[in] colors color input in the same order of the points or single uniform color
* \param[in] pose transform to be applied on the point cloud
*/
void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id = "polygon");
@@ -447,70 +447,66 @@ void convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<
void convertToEigenMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, Eigen::Matrix4f &m);
template<typename _Tp, typename _Ts, typename _Tc> inline int copy_non_nan_loop(_Tp *d, InputArray _s, InputArray _c)
template<typename _Tp, typename _Ts, typename _Tc> inline int copy_non_nan_loop(_Tp *d, const Mat& s, const Mat& c)
{
Mat s = _s.getMat();
Mat c = _c.getMat();
CV_Assert(s.size() == c.size());
int j = 0;
for(int y = 0; y < s.rows; ++y)
{
const _Ts* srow = s.ptr<_Ts>(y);
const _Tc* crow = c.ptr<_Tc>(y);
for(int x = 0; x < s.cols; ++x)
if (!isNaN(crow[x][0]) && !isNaN(crow[x][1]) && !isNaN(crow[x][2]))
{
d[j++] = _Tp((srow[x])[0], (srow[x])[1], (srow[x])[2]);
}
const _Ts* srow = s.ptr<_Ts>(y);
const _Tc* crow = c.ptr<_Tc>(y);
for(int x = 0; x < s.cols; ++x)
if (!isNan(crow[x]))
d[j++] = _Tp((srow[x])[0], (srow[x])[1], (srow[x])[2]);
}
return j;
}
/** \brief Assign a value to a variable if another variable is not NaN
* \param[in] d the destination variable
* \param[in] _s the source variable
* \param[in] _c the values to be controlled if NaN (can be different from _s)
* \param[in] s the source variable
* \param[in] c the values to be controlled if NaN (can be different from s)
* \param[out] j number of points that are copied
*/
template<typename _Tp> inline int copy_non_nans(_Tp *d, InputArray _s, InputArray _c)
*/
template<typename _Tp> inline int copy_non_nans(_Tp *d, const Mat& s, const Mat& c)
{
Mat s = _s.getMat();
Mat c = _c.getMat();
CV_Assert(s.size() == c.size());
int j = 0;
if (s.channels() > 3)
{
if (s.type() == CV_32FC4)
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3f>(d,_s,_c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4f>(d,_s,_c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3d>(d,_s,_c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4d>(d,_s,_c); break;
}
}
else if (s.type() == CV_64FC4)
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3f>(d,_s,_c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4f>(d,_s,_c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3d>(d,_s,_c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4d>(d,_s,_c); break;
}
}
if (s.type() == CV_32FC4)
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3f>(d, s, c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4f>(d, s, c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4f, Vec3d>(d, s, c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4f, Vec4d>(d, s, c); break;
}
}
else if (s.type() == CV_64FC4)
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3f>(d, s, c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4f>(d, s, c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, Vec4d, Vec3d>(d, s, c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, Vec4d, Vec4d>(d, s, c); break;
}
}
}
else
{
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3f>(d,_s,_c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4f>(d,_s,_c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3d>(d,_s,_c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4d>(d,_s,_c); break;
}
switch(c.type())
{
case CV_32FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3f>(d, s, c); break;
case CV_32FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4f>(d, s, c); break;
case CV_64FC3: j = copy_non_nan_loop<_Tp, _Tp, Vec3d>(d, s, c); break;
case CV_64FC4: j = copy_non_nan_loop<_Tp, _Tp, Vec4d>(d, s, c); break;
}
}
return j;
}
@@ -519,12 +515,12 @@ template<typename _Tp> inline int copy_non_nans(_Tp *d, InputArray _s, InputArra
* \param[in] d the destination variable
* \param[in] lenth the length of the d array
* \param[in] pose affine transform to be applied on each point in d
*/
*/
template<typename _Tp> inline void transform_non_nans(_Tp* d, int length, const Affine3f& pose = Affine3f::Identity())
{
for (int i = 0; i < length; ++i)
{
d[i] = pose * d[i];
d[i] = pose * d[i];
}
}